diff --git a/keras_cv/layers/preprocessing_3d/waymo/frustum_random_point_feature_noise.py b/keras_cv/layers/preprocessing_3d/waymo/frustum_random_point_feature_noise.py
index bd5b959cc5..395943d2e1 100644
--- a/keras_cv/layers/preprocessing_3d/waymo/frustum_random_point_feature_noise.py
+++ b/keras_cv/layers/preprocessing_3d/waymo/frustum_random_point_feature_noise.py
@@ -1,6 +1,7 @@
 # Copyright 2022 Waymo LLC.
 #
 # Licensed under the terms in https://github.com/keras-team/keras-cv/blob/master/keras_cv/layers/preprocessing_3d/waymo/LICENSE  # noqa: E501
+import logging
 
 import tensorflow as tf
 
@@ -98,9 +99,17 @@ def get_random_transformation(self, point_clouds, **kwargs):
         # frustum.
         valid_points = point_clouds[0, :, POINTCLOUD_LABEL_INDEX] > 0
         num_valid_points = tf.math.reduce_sum(tf.cast(valid_points, tf.int32))
-        randomly_select_point_index = tf.random.uniform(
-            (), minval=0, maxval=num_valid_points, dtype=tf.int32
-        )
+        try:
+	    randomly_select_point_index = tf.random.uniform(
+                (), minval=0, maxval=maxval, dtype=tf.int32
+            )
+        except tf.errors.InvalidArgumentError:
+            logging.error(
+                "Skipping frustum random point noise augmentation: No valid "
+                "point is found."
+            )
+            return {}
+
         randomly_select_frustum_center = tf.boolean_mask(
             point_clouds[0], valid_points, axis=0
         )[randomly_select_point_index, :POINTCLOUD_LABEL_INDEX]
@@ -144,6 +153,8 @@ def get_random_transformation(self, point_clouds, **kwargs):
     def augment_point_clouds_bounding_boxes(
         self, point_clouds, bounding_boxes, transformation, **kwargs
     ):
+        if "point_noise" not in transformation:
+            return (point_clouds, bounding_boxes)
         point_noise = transformation["point_noise"]
 
         # Do not add noise to points that are protected by setting the